Kalman filter based applications for helicopters

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Date

2014

Author

Okatan, Merve

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The study in this thesis comprises Kalman Filter based applications for helicopters. In the first part of this thesis, a Kalman filter for a helicopter is designed to integrate micro-electromechanical sensors with the Global Navigation Satellite Systems to achieve desired accuracy levels. It is implemented to a non-linear helicopter model and its performance is shown through simulations. In the second part of this thesis, Kalman Filter approach is adopted to neural network based adaptive controllers as a modification term in the update law. In order to control the attitude of the helicopter, a linear model inversion based controller with a neural network adaptive element is implemented, and its modification term is designed using a Kalman Filter approach. The approach is compared with other existing modification terms in the literature through simulations.

Subject Keywords

Helicopters., Kalman filtering., Navigation (Aeronautics).

URI

http://etd.lib.metu.edu.tr/upload/12617906/index.pdf
https://hdl.handle.net/11511/24022

Collections

Graduate School of Natural and Applied Sciences, Thesis

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Citation Formats

M. Okatan, “Kalman filter based applications for helicopters,” M.S. - Master of Science, Middle East Technical University, 2014.